test_objects

test_objects.test_adaptive_free_joint_translation_tolerances_are_stage_independent()

Tests MJScene zeroes bulk relTol for a free body through the adaptive-integrator interface.

The relative-tolerance conditioning fix applies to any free-joint body at orbital scale, independent of how its gravity is applied, so the presence of a free body (cube here) alone should trigger it.

test_objects.test_loading()

Tests that MJObject are created from the XML as expected